Robot Charger Docking Arc Path Control
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Solution Overview
Problem
Current robot navigation systems face challenges in efficiently and precisely docking with charging stations, requiring more computational resources and complex navigation approaches due to the need for precise localization and control, which can lead to increased processing time and reduced efficiency in warehouse operations.
Innovation Solution
A method involving a two-stage navigation approach where the robot first moves along an arc path from an initial pose to a mating pose, using proportional and weighted control to maintain constant linear and angular velocities, and adjusts control strategies based on distance to the charging station, ensuring accurate alignment and efficient docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot uses a spatial model or map for navigation to a charging station, then the robot can successfully navigate to the target location avoiding obstacles, but the processing operations on the map require too much computational resources and result in coarse localization that is insufficient for precise docking
Solution Approach 1:
The navigation process is divided into two distinct stages: a first navigation stage that brings the robot to an initial pose near the charging station using the spatial map, and a second navigation stage that performs precise docking from the initial pose to the mating pose. This segmentation allows each stage to use appropriate computational methods, reducing overall complexity while achieving high precision docking.
Solution Approach 2:
The first navigation to the initial pose is performed as a preliminary action before the precise second navigation. By pre-positioning the robot at the initial pose using the spatial map, the system reduces the computational burden of high-precision operations, as the subsequent arc-path navigation only needs to cover a limited distance from the initial pose to the mating pose.
2Productivity
If a robot performs processing operations on the warehouse map for localization and control, then the robot can navigate autonomously, but the processing requires too much time and computational resources reducing operational efficiency
Solution Approach 1:
The patent extracts only the essential portion of the spatial map needed for docking operations. Instead of performing processing operations on the entire warehouse map during docking, the system uses a pre-computed arc path from the initial pose to the mating pose, taking out only the relevant navigation data needed for the docking maneuver, thereby reducing processing time and computational resource consumption.
3Device complexity
If a robot uses a coarse localization approach for navigation, then the computational requirements are reduced, but the localization precision is insufficient for accurate docking with the charging station
Solution Approach 1:
The patent applies different levels of localization quality to different stages of the navigation process. The first navigation stage uses the spatial map for coarse localization, which is sufficient for reaching the general area. The second navigation stage then applies high-precision arc-path control specifically for the docking maneuver, ensuring accurate alignment. This local quality approach optimizes computational resources while achieving the required docking precision.
Data Source
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AI summary
A method and system for docking a robot with a charger docking station, including receiving an initial pose and receiving a mating pose associated with the robot charger docking station, performing a first navigation from a location to the initial pose, and performing a second navigation of the robot from the initial pose to the mating pose. The second navigation may proceed substantially along an arc path from the initial pose to the mating pose, thereby, upon arriving at the mating pose, an electrical charging port of the robot mates with an electrical charging assembly. The arc path may be associated with a section of a unique circle having a radius and a center equidistant from the initial pose and the mating pose. Controlling for error may include a proportional control and/or weighted control or switching between the controls to maintain an error below a threshold.